1 package org
.usfirst
.frc
.team3501
.robot
.commands
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
8 * This command group will be used in autonomous. Based on what position the
9 * robot is in, the robot will align with the goal. In the Software 2015-2016
10 * Google folder is a picture explaining each of the cases.
12 * dependency on sensors: lidars, encoders, gyro
14 * dependency on subsystems: drivetrain
16 * dependency on other commands: TurnForAngle(), DriveForDistance()
18 * pre-condition: robot is flush against a defense at the specified position in
19 * the opponent's courtyard
21 * post-condition: the robot is parallel to one of the three goals and the
22 * shooter is facing that goal
25 public class AlignToScore
extends CommandGroup
{
26 private final static double CENTER_OF_MASS_TO_ROBOT_FRONT
= 0;
27 private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL
= 0;
28 private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL
= 0;
30 private final double DEFAULT_SPEED
= 0.5;
33 // assuming that positive angle means turning right
34 // and negative angle means turning left
36 // constants for position 1: low bar
37 private final double POS1_DIST1
= 109;
38 private final double POS1_TURN1
= 60;
39 private final double POS1_DIST2
= 0;
41 // constants for position 2
42 private final double POS2_DIST1
= 140;
43 private final double POS2_TURN1
= 60;
44 private final double POS2_DIST2
= 0;
46 // constants for position 3
47 private final double POS3_DIST1
= 0;
48 private final double POS3_TURN1
= 90;
49 private final double POS3_DIST2
= 35.5;
50 private final double POS3_TURN2
= -90;
51 private final double POS3_DIST3
= 0;
53 // constants for position 4
54 private final double POS4_DIST1
= 0;
55 private final double POS4_TURN1
= -90;
56 private final double POS4_DIST2
= 18.5;
57 private final double POS4_TURN2
= 90;
58 private final double POS4_DIST3
= 0;
60 // constants for position 5
61 private final double POS5_DIST1
= 0;
62 private final double POS5_TURN1
= 0;
63 private final double POS5_DIST2
= 0;
65 public double horizontalDistToGoal
;
67 public AlignToScore(int position
) {
71 // position 1 is always the low bar
73 addSequential(new DriveForDistance(POS1_DIST1
, DEFAULT_SPEED
));
74 addSequential(new TurnForAngle(POS1_TURN1
));
75 addSequential(new DriveForDistance(POS1_DIST2
, DEFAULT_SPEED
));
76 horizontalDistToGoal
= 0;
77 } else if (position
== 2) {
79 addSequential(new DriveForDistance(POS2_DIST1
, DEFAULT_SPEED
));
80 addSequential(new TurnForAngle(POS2_TURN1
));
81 addSequential(new DriveForDistance(POS2_DIST2
, DEFAULT_SPEED
));
82 horizontalDistToGoal
= 0;
84 } else if (position
== 3) {
86 addSequential(new DriveForDistance(POS3_DIST1
, DEFAULT_SPEED
));
87 addSequential(new TurnForAngle(POS3_TURN1
));
88 addSequential(new DriveForDistance(POS3_DIST2
, DEFAULT_SPEED
));
89 addSequential(new TurnForAngle(POS3_TURN2
));
90 addSequential(new DriveForDistance(POS3_DIST3
, DEFAULT_SPEED
));
91 horizontalDistToGoal
= 0;
93 } else if (position
== 4) {
95 addSequential(new DriveForDistance(POS4_DIST1
, DEFAULT_SPEED
));
96 addSequential(new TurnForAngle(POS4_TURN1
));
97 addSequential(new DriveForDistance(POS4_DIST2
, DEFAULT_SPEED
));
98 addSequential(new TurnForAngle(POS4_TURN2
));
99 addSequential(new DriveForDistance(POS4_DIST3
, DEFAULT_SPEED
));
100 horizontalDistToGoal
= 0;
102 } else if (position
== 5) {
104 addSequential(new DriveForDistance(POS5_DIST1
, DEFAULT_SPEED
));
105 addSequential(new TurnForAngle(POS5_TURN1
));
106 addSequential(new DriveForDistance(POS5_DIST2
, DEFAULT_SPEED
));
107 horizontalDistToGoal
= 0;
111 public static double lidarCalculateAngleToTurn(int position
,
112 double horizontalDistToGoal
) {
113 double leftDist
= Robot
.driveTrain
.getLeftLidarDistance();
114 double rightDist
= Robot
.driveTrain
.getRightLidarDistance();
116 double errorAngle
= Math
.atan(Math
.abs(leftDist
- rightDist
) / 2);
118 // TODO: figure out if we do want to shoot into the side goal if we are
119 // in position 1 or 2, or if we want to change that
120 if (position
== 1 || position
== 2) {
122 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
123 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
126 // TODO: figure out if we do want to shoot into the font goal if we are
127 // in position 3, 4, 5, or if we want to change that
130 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
131 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
134 double angleToTurn
= Math
.atan(distToTower
/ horizontalDistToGoal
);